Infant calming/sleep-aid device and method of use

ABSTRACT

An infant calming/sleep-aid device includes a main moving platform that moves in a reciprocating manner and an actuator that drives the reciprocating movement of the main moving platform. The moving head platform is linked to the main moving platform and at least one of a motion sensing device and a sound sensing device are either at or proximate to a moving head platform that is pivotally linked to the main moving platform. A logic circuit links at least one of the motion and sound sensing devices of the infant calming/sleep aid-device to the main moving platform whereby signals detected modulate movement of the main moving platform. A sound generating device is linked to the logic circuit.

RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No.61/549,627, filed on Oct. 20, 2011. The entire teachings of the aboveapplication are incorporated herein by reference.

BACKGROUND OF THE INVENTION

Persistent crying and poor infant sleep are perennial and ubiquitouscauses of parent frustration. During the first months of life, babiesfuss/cry an average of about 2 hours/day and wake about 2 to 3 times anight. One in six infants are brought to a medical professional forevaluation for sleep/cry issues.

Infant crying and parental exhaustion are often demoralizing and lead tomarital conflict, anger towards the baby and impaired job performance.In addition, they are primary triggers for a cascade of serious/fatalhealth sequelae, including postpartum depression (which affects about15% of all mothers and about 25 to about 50% of their partners),breastfeeding failure, child abuse and neglect, suicide,SIDS/suffocation, maternal obesity, cigarette smoking, excessive doctorvisits, overtreatment of infants with medication, automobile accidents,dysfunctional bonding, and perhaps infant obesity.

Traditional parenting practices have utilized swaddling, rhythmic motionand certain sounds to soothe fussing infants and promote sleep (byreducing sleep latency and increasing sleep efficiency). “Sleep latency”is defined as the length of time between going to bed and fallingasleep. “Sleep efficiency” is defined as the ratio of time spent asleep(total sleep time) to the amount of time spent in bed. Swaddling,rhythmic motion and certain sounds imitate elements of a baby's in uterosensory milieu and activate a suite of brainstem reflexes, the calmingreflex. Swaddling is a method of snug wrapping with the arms restrainedat the baby's sides. This imitates the tight confinement babiesexperience in the womb. Swaddling also inhibits startling and flailing,which often interrupts sleep and starts/exacerbates crying.

Rhythmic motion replicates the movement fetuses experience when themother is walking. The motion stimulates the vestibular apparatus in thesemicircular canals of the inner ear. A specific, rumbling low-frequencynoise imitates the sound created by the turbulence of the blood flowingthrough the uterine and umbilical arteries. In utero the sound levelbabies hear has been measured at between 72 and 92 dB. Each baby has aspecific and distinctive unique mix of motion and sound that mostefficiently activates his or her calming reflex. This preferred mixstays consistent through the first months of life (i.e. babies whorespond best to swaddling plus motion continue to respond to thosemodalities over time and don't abruptly switch their preference toswaddling plus sound).

The calming reflex has several constant characteristics. It is triggeredby a stereotypical sensory input; produces a stereotypical behavioraloutput; demonstrates a threshold phenomenon (i.e. stimuli that are toomild may not be sufficient to activate a response); has a threshold thatvaries between individuals (i.e. is higher or lower for any givenchild); the threshold varies by state (e.g. fussing and crying raise thelevel of stimulation required to exceed threshold and bring about reflexactivation).

Since the nominal level of a stimulus needed to reach the triggeringthreshold of the calming reflex differs from one child to the next,failure to exceed a particular child's threshold level often results ina total absence of a calming response. For example, slow smooth motionmay calm one upset infant, yet be too subdued to calm another. Likewise,moderately loud sound may reach the calming threshold for one child, butnot another. Once triggered, the stereotypical output of the calmingreflex is a reduction of motor output and state. The intensity of soundand motion needed to trigger any particular baby's calming reflex ismuch greater than the levels needed to keep the calming reflexactivated. “State” describes an infant's level of attention to andinteraction with the environment. Infants experience six states: quietsleep, active sleep, drowsiness, quiet alert, fussing and crying.

However, despite the convenience and availability of swaddling, rhythmicmotion and sound, these methods fail to calm and promote sleep in alarge portion of the infant population because they are not beingapplied correctly. To reduce infant crying and promote sleep parentsoften bring the baby into their own bed. However, this is problematicbecause sharing a bed with a parent has been proven to raise an infant'srisk of Sudden Infant Death Syndrome (SIDS) and accidental suffocation(which has been increasing by 14% per year for approximately twentyyears). The hazard of bed sharing is further elevated if the parent isextremely fatigued. Like inebriation, exhaustion reduces adult judgmentand responsiveness. Over 50% of new parents report sleeping fewer than 6hours/night, the level demonstrated in adults to simulate a level ofattention impairment comparable to inebriation. For this reason,sleeping with an exhausted parent further increases the SIDS riskassociated with bed sharing and further increases the suffocation risk(e.g. from accidental overlaying of the parents body over the infant'shead).

Other behaviors that exhausted parents engage in to calm crying andpromote sleep also directly raise the risk of SIDS and suffocation (e.g.falling asleep with the baby on a couch, placing the baby on the stomachto sleep). Medical authorities recommend parents avoid bed sharing andplace sleeping babies in cribs. However, cribs are problematic. Babiessleeping supine in cribs have a higher risk of plagiocephaly (flatteningof the skull), which may require expensive and inconvenient medicaltreatment, and may result in a permanent deformity. In addition, acrib's flat, quiet, nonmoving surface is devoid of the swaddling,rhythmic motion and sound that reduce crying, reduce sleep latency andincrease sleep efficiency.

In an attempt to improve infant sleep in cribs, parents have employedseveral methods (prone sleeping, swaddling, rocking motion, sound),however each is problematic. For example, the prone position isassociated with a 3-4 fold increased risk of SIDS. Swaddled babies canroll to the stomach position (prone), which is associated with an 8-19fold increased risk of SIDS. Rocking motion delivery systems (e.g.swings, cradles and hammocks) all present problems. When sitting in aswing, a baby's head can roll forward and create an airway obstruction.Cradles and hammocks require parents to be the motion-powering energysource, and thus can be done for only a limited part of the sleepperiod. Sound delivery devices (e.g. fans, air filters, hair driers,sound machines and white noise CDs) may be cumbersome and expensive andthe volume, quality or frequency profile of the sound they produce maybe excessive or too different from in utero sound to be effective.

Over the past twenty years, attempts have been made to engineertechnological methods to create infant calming/sleep devices to deliversound and motion more conveniently. One such device, a motorized cradle,was designed to rock sleeping babies in an arc along the head-foot axis.This product allowed the cradle to come to rest at an angle, in apartial swing position, which resulted in multiple infant deaths.Another device, designed to simulate a car traveling at about 55 milesper hour, is comprised of 2 parts: a vibrating motor that fixes to theunderside of the crib and a speaker that fixes to the sidewall. Stillanother device has a motorized crib that moves back and forth (about 10cm in each direction along the head-foot axis; each swing lasting about1.8 seconds). A sensor activates the device's motor for a limited periodof time when it detects the infant's cry. Still other devices haveintroduced sound machines or mats that vibrate for short periods of timeto be placed under the baby to encourage sleeping.

These and other current infant calming/sleep devices deliver fixed andunchangeable motion and sound. This is a problem because each baby has adifferent mix of sound and motion that most efficiently calms the childand promotes sleep. For example, some babies respond best to swaddlingplus motion, others swaddling plus sound. Another problem with fixedmotion and sound infant calming/sleep devices is that each baby has aunique level of motion and sound that induces calming and sleep mostefficiently. For example, slow rocking may reduce sleep latency for oneinfant, yet be too subdued to do so in another infant. And, quiet soundmay be sufficient to increase sleep efficiency for one baby, but notanother. Also, the intensity of sound and motion that a baby needs totrigger the calming reflex is much greater than the levels needed tokeep the calming reflex activated.

Still another problem with fixed motion and sound infant calming/sleepdevices is that the intensity of the stimuli needed to activate thecalming reflex and induce calm and sleep varies substantially as achild's state changes. For example, most fussy babies require morevigorous, jiggly motion (with rapid acceleration-deceleration) and morevigorous sound inputs (as loud as a vacuum cleaner—75 to 80 dB). On theother hand, calm, sleepy babies need less vigorous inputs. Further,current infant calming/sleep devices do not continue all night long; donot deliver optimal sound and motion for triggering the calming reflex;do not increase and decrease their sensory input in a step-wise fashionto vary the sensory input intensity to give the baby the most effectivelevel of stimulation; lack the ability to reduce the sensory input overtime to wean a baby off the stimuli as he or she ages.

Therefore, a need exists for an infant calming/sleep system thatovercomes or minimizes the above-mentioned problems.

SUMMARY OF THE INVENTION

The invention generally is directed to a method for aiding calming andsleep of an infant.

In one embodiment, the invention is an infant calming/sleep-aid devicethat includes a main moving platform that moves in a reciprocatingmanner. An actuator drives the reciprocating movement of the main movingplatform and a moving head platform linked to the main moving platformreciprocates in response to reciprocating movement of the main movingplatform. In a preferred embodiment, at least one of a motion sensingdevice and a sound sensing device are, respectively, at or proximate tothe moving head platform. A logic circuit links at least one of themotion sensing device and the sound sensing device to the main movingplatform, whereby signals detected by at least one of the motion sensingdevice and the sound sensing device cause the logic circuit to modulatethe movement of the main moving platform.

In another embodiment, the infant calming/sleep-aid device includes arigid base and a main movement linkage or bearing extending from thebase. The main moving platform is mounted on the main movement linkageor bearing, whereby the main moving platform is movable on the mainmovement linkage or bearing relative to the base. An actuation assemblythat controls movement of the main moving platform about the mainmovement linkage or bearing relative to the rigid base includes anactuator mounted to the rigid base.

In another embodiment, the invention is a method for aiding the calmingof a fussy infant or the sleep of an infant, comprising the step ofmoving the infant in a reciprocating manner about an axis thatintersects the infant at a 90° angle to a major plane of the surfacesupporting the infant.

In another embodiment, the invention is an adaptive calming and sleepaid method, including the steps of moving an infant in a reciprocatingmanner about an axis that intersects the infant and is orthogonal to amajor plane of the surface supporting the infant. At least one of asound generated by a sound generating device and a reciprocatingmovement is modulated in an updating and adaptive matter by a logiccircuit-controlled actuation in response to at least one of the sound ofthe infant and the motion of the platform.

The present invention has many advantages. For example, the system andmethod of the invention provides for modulation of reciprocatingmovement of an infant in an updating and adaptive manner. The rapidlyaccelerating and decelerating reciprocal motion of the device whichinduces the infant's head to accelerate and decelerate over a shortdistance in a safe and specifically controlled manner induces theinfant's natural calming reflex. The device's specifically designedmotion and sound, along with its adaptive control system reduceirritability during awake hours and improve infant sleep (specificallyreducing irritability during periods of sleep, reducing sleep latencyand increasing sleep efficiency) for babies up to about twelve monthsold.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of one embodiment of the infantcalming/sleep-aid device of the invention, with a depiction of an infantasleep inside the device.

FIG. 2 is a perspective view of the infant calming/sleep-aid device ofFIG. 1 with swaddle fastening straps and without an enclosure.

FIG. 3 is a perspective view of the infant calming/sleep-aid device ofFIG. 2, showing apparatus beneath the main moving platform in brokenlines.

FIG. 4 is a plan view of the apparatus supporting the main movingplatform of the infant calming/sleep-aid device of FIG. 3, with therigid base and main moving platform shown in outline.

FIG. 5 is a side view of the infant calming/sleep-aid device shown inFIG. 4, taken along line 5-5.

FIG. 6 is a side view of the infant calming/sleep-aid device shown inFIG. 4.

FIG. 7 is a perspective view of yet another embodiment of thecalming/sleep-aid device of the invention, showing components of thedevice beneath the main moving platform in broken lines.

FIG. 8 is a plan view of the apparatus supporting the main movingplatform of the calming/sleep-aid device of FIG. 7, with the rigid baseand main moving platform shown in outline.

FIG. 9 is a side view of the embodiment of the device shown in FIG. 7.

FIG. 10 is a schematic representation of one embodiment of a softwarecontrol system of the invention, along with inputs and outputs of thesoftware control system.

FIG. 11 is a schematic representation of one embodiment of a cryingdetection module of the invention.

FIG. 12 is a schematic representation of one embodiment of a motionanalysis module of the invention.

FIG. 13 is a schematic representation of one embodiment of a behaviorstate machine module of the invention.

FIG. 14 is a schematic representation of one embodiment of an audiogeneration module of the invention.

FIG. 15 is a schematic representation of a motion generation module ofthe invention.

FIG. 16 is a schematic representation of a motion generation module ofthe invention.

DETAILED DESCRIPTION OF THE INVENTION

In one embodiment of the invention, shown in FIGS. 1 through 6, infantcalming/sleep-aid device 10 includes enclosure 12 about infant 14.Enclosure 12 surrounds main moving platform 16. As can be seen in FIG.2, main moving platform 16 includes base 18, moving head platform 19,padding 20 and cloth covering 22. Swaddle fastening straps 24 extendfrom main moving platform 16 for securing infant 14 in suitableswaddling clothes 26. Head pad insert 28 supports the head of infant 14.Preferably, head pad insert 28 includes a gel in order to reduce therisk of plagiocephaly. Handles 30 extend laterally from main movingplatform 16. Main moving platform 16 is supported and rotatable about amain support shaft (not shown) that is fixed to rigid base 32. Controlpanel 34, which includes speed control knobs 35, status lights 37 andcontrols 39 for microphone 38. Rigid base control electronics 36,include drive electronics of infant calming/sleep-aid device 10.

In another representative view of infant calming/sleep-aid device 10 ofFIG. 2, shown in FIG. 3, main moving platform 16 is supported by mainsupport shaft 40 at main rotation bearing 42. Moving head platform 19supports head pad insert 28 and is rotatable about head rotation bearing46 through arm 48 extending between head rotation bearing 46 and movinghead platform 19. Motion sensing device 50, such as an accelerometer, atmoving head platform 44 detects motion of moving head platform 19.Microphones 38 at moving head platform 19 detect sound emitted by theinfant (not shown) when supported by infant aid sleep device 10.Speakers 52, supported by brackets 54 mounted on rigid base 18, arelocated directly beneath moving head platform 19. Springs 56 linkingeither side of moving head platform 19 to main moving platform 16 dampenmotion of moving head platform 19 relative to main moving platform 16during reciprocal motion of moving head platform 19 induced byreciprocating motion of main moving platform 16.

Reciprocating motion of main moving platform 16 about main support shaft36 is about an axis that is orthogonal to a major plane of main movingplatform 16. Reciprocating motion of main moving platform 16 is drivenby actuator assembly 58.

In some embodiments, the body and the head of the infant can be out ofphase. For example, at relatively slow speeds, the motion of the head ofthe infant can be in the same direction as that of the motion of theupper body of the infant. At relatively high speeds, the reciprocalmotion of the head of the infant can be in the opposite direction asthat of the upper body of the infant. In another embodiment of theinvention (not shown), reciprocal motion of the head of the infant canbe in some other direction, such as orthogonally relative to the planeof the main support platform.

Actuator assembly 58 includes drive motor 60 mounted to rigid base 32and gear assembly 62 linked to drive motor 60 and also mounted to rigidbase 32. Actuation of drive motor 60 causes rotation gear assembly 62 todrive eccentric drive plate 64 about an axis normal to a major plane ofrigid base 32. Eccentric drive plate 64 is linked to swing arm plate 66of actuator assembly 58 that extends from eccentric drive plate 64 torod end 68 of screw 70 and is pivotally mounted to rod end 68 of screw70. Screw 70 is mounted to amplitude modulation assembly 72. Amplitudemodulation assembly 72 includes amplitude modulation motor 74, nut 76,mounted on nut frame 78, which swivels on rotation bearing 80 mounted torigid base 32. The axis of rotation of nut frame 78 on rotation bearing80 is, like that of eccentric drive plate 64, normal to a major plane ofrigid base 32. Actuation of amplitude modulation assembly 72 causesmovement of screw 70 along its major longitudinal axis to thereby causerod end 68 to become more proximate or less proximate to amplitudemodulation assembly 72. Arm 82 extends from an end of screw 70 oppositeto rod end 68 to elastic actuator catch bracket 84, which is mounted onbase 18 of main moving platform 16. Arm 82 extends through an openingdefined by elastic actuator catch bracket 84 and is linked to mainmoving platform 16 by springs 86, 88 held in place on either side ofelastic actuator catch bracket 84 by nuts 90, 92, respectively.

Actuation of actuation assembly drive motor 60 causes rotation ofeccentric drive plate 64 about an axis normal to a major plane of rigidbase 32 which, in turn, causes reciprocal motion of swing arm plate 66roughly along a major longitudinal axis of swing arm plate 66. Suchreciprocal motion of swing arm plate 66 causes rod end 68 to move in areciprocal motion from side-to-side of a major longitudinal axis ofscrew 70 which causes reciprocal rotation of nut frame 80 about an axisnormal to major plane rigid base 18 and side-to-side motion of theopposite end of screw 70 opposite that of rod end 68 of screw 70. Suchside-to-side movements of the opposite end of screw 70 causes reciprocallongitudinal movement of arm 82 extending through the opening defined byelastic actuator catch bracket 84. Resistance to such reciprocal motionof arm 82 causes alternating reciprocal compression and relaxation ofsprings 86, 88, which thereby causes reciprocal motion of main movingplatform 16 about main support shaft 40 linking main moving platform 16to rigid base 32.

The amplitude of reciprocal motion of main moving platform 16 about mainsupport shaft 40 is controlled by the location of screw 70 relative toamplitude modulation assembly 72. For example, if actuation of amplitudemodulation assembly 70 causes rod end 68 to become more proximate toamplitude modulation assembly 70, the side-to-side motion of theopposite end of screw 70 will become greater, thereby causing theamplification of reciprocal motion of main moving platform 16 about mainsupport shaft 40 to increase. Conversely, actuation of amplitudemodulation assembly 72 to cause rod end 68 of screw 70 to become moreremote from amplitude modulation assembly 72 will diminish theside-to-side motion of opposite end of screw 70, thereby reducing theamplitude of reciprocal motion of main moving platform 16 about mainsupport shaft 40.

Reciprocal motion of main moving platform 16 causes a delayed reciprocalmotion of moving head platform 44 about head rotation bearing 46. Thereciprocal motion of moving head platform 44, although delayed, hasgreater amplitude about main support shaft 40 because of the rotation ofmoving head platform 44 about head rotation bearing 46. However, theamplitude of reciprocal motion of moving head platform 44 about headrotation bearing 46 is dampened by springs 56. Nevertheless, thereciprocal motion of main moving platform 16 and moving head platform 44about main support shaft 40 is measured by motion sensing device 50 atmoving head platform 44. Measurements by motion sensing device 50 arerelayed back to control panel 34 and rigid base control electronics 36which, alone, or optionally, in combination with external computersoftware programming, modulate actuator assembly drive motor 60 andamplitude modulation motor 74. Motion detection by motion sensing device50 can also, optionally, modulate computer programming to affectselection and volume of sounds emitted by speakers 52. Microphones 38,in addition, or optionally, receive acoustical signals that can be fedback through rigid base control electronics 36 or/and control panel 34to software, either on-board or remote from infant calming/sleep-aiddevice 10, that further modulates actuator assembly drive motor 60,amplitude modulation motor 74 and/or sounds emitted from speakers 52.Algorithms associated with modulation of actuator assembly drive motor60, amplitude modulation motor 74 and speakers 52 will be more fullydiscussed below.

In one embodiment, the device allows for a reciprocating motion at0.5-1.5 cps of ˜2″ excursions, but if the baby is fussy the deviceresponds by delivering a smaller excursion (e.g. <1″) at a faster rate(˜2-4.5 cps). This fast and small motion delivers the specific degree ofacceleration-deceleration force to the semicircular canals in thevestibular mechanism of the inner ear that is required to activate thecalming reflex.

Also, the reciprocating motion typically has a maximum amplitude of lessthan one inch during the rapid phase of motion (˜2-4.5 cps), furtherensuring safety of the infant.

In another embodiment, shown in FIGS. 7 through 9 calming/sleep-aiddevice 100 includes actuator assembly 102, which substitutes foractuator assembly 58 of the embodiment shown in FIGS. 2 through 6.Specifically, as shown in FIGS. 7 through 9, drive motor 104 ofcalming/sleep-aid device 100 is linked to bearing 106, which is, inturn, leads to the eccentric drive plate 108. Eccentric drive plate 108is connected to push/pull rod 110 that extends through an openingdefined by elastic actuator catch bracket 112. Springs 114 aboutpush/pull rod 110 link push/pull rod 110 to main moving platform 16through elastic actuator catch bracket 112. Springs 114 are serieselastic actuator push-springs; they transfer force from actuatorassembly 102 to catch bracket 112. Balancing dampers 115 beneathpush/pull rod 110 dampen the motion of moving platform 16. Springs 117are pull-balancing springs; they pull on bracket 112 in parallel withbalancing dampers 115 to create the desired smooth sinusoidal motion ofmoving platform 16 at low frequencies and the rapid accelerating motionat high frequencies.

Actuation of drive motor 104 causes reciprocal longitudinal movement ofpush/pull rod 110 through the opening defined by elastic actuator catchbracket 112 and translates that reciprocal movement into reciprocalmotion of main moving platform 16 about main rotation bearing 42, asdoes reciprocal motion of arm 82 through elastic actuator catch bracket84 of the embodiment shown in FIGS. 2 through 6. Other components of theembodiments shown in FIGS. 7 through 9 operate in the same manner asthose of infant calming/sleep-aid device 10 represented in FIGS. 2through 6.

As shown FIG. 10, software control system 120, processes inputs frommicrophones and generates outputs to speakers represented in FIGS. 2through 9, also processes inputs from speed control knob 121, also shownin FIGS. 2 through 9, and from a three-axis USB accelerometer 123,represented as motion sensing device in FIGS. 2 through 9. In addition,software control system 120 generates an output signal to multichannelUSB motor controller 122, which controls actuator assembly drive motor60 (not shown) and amplitude modulation motor 74 (not shown) or,alternatively, as shown in FIGS. 7 through 9, drive motor 104 (notshown). Status lights, such as tricolor USB DEs 121, are represented aslights 37 in FIGS. 2 through 9. Modules of software control system 120can be located on-board or remotely from the embodiments of infantcalming/sleep-aid devices 10,100 shown in FIGS. 2 through 9. The modulesinclude a crying detection module 124 that receives data frommicrophones 125, represented at microphones 38 in FIGS. 2 through 9, andrelays to a behavior state machine module 126 whether or not an infanton infant calming/sleep-aid device is crying or not crying. Dependingupon the input received by behavior state machine module 126, outputsignals will control motion generation module 128 or audio generationmodule 130. Actuation of motion generation module 128 will modulate theactuator assemblies of the embodiments shown in FIGS. 2 through 9.Alternatively, or in addition, output signals from behavior statemachine module 126 will modulate generation of audio data output fromaudio generation module 130 to speakers 131, represented as speakers 52in FIGS. 2 through 9.

Data received from accelerometer 123 is processed by motion analysismodule 132 to thereby modulate the actuator assembly through motiongeneration module 128 and/or audio generation module 130 to therebycontrol the actuators assemblies or speakers, respectively. In addition,motion analysis module 132 controls status light module 134 to alert,through the status lights, whether motions of the main moving platformand the head platform are nominal or not nominal, or alternatively,through feedback, soothing or not soothing to the infant. “Nominal”, asthat term is defined herein, refers to any and all motion for which thefiltered acceleration signal does not exceed a specified, orpredetermined maximum motion threshold for a specific length of time.The process by which the motion analysis module classifies motion asnominal or not nominal is detailed in FIG. 12 and in the accompanyingtext below.

In one embodiment the rate of the reciprocating rotation is in a rangeof between about two and about four and one-half cycles per second andan amplitude of the reciprocating motion at a center of a head of theinfant is in a range of between about 0.2 inches and about 1.0 inches.In anther embodiment, the rate of reciprocating motion is in a range ofbetween about 0.5 and about 1.5 cycles per second and an amplitude ofthe reciprocating rotation at a center of the head of the infant is in arange of between about 0.5 inches and about 2.0 inches.

The software weans the infant off the device by incorporating the infantage as a variable used by the behavior state module control system,wherein modulation is further controlled by at least one of the weightof the infant, the age of the infant, and the duration of the detectedsounds made by the infant.

Referring to FIG. 11, crying detection module 124 receives audio datafrom the microphones of infant calming/sleep-aid devices 10,100, whichis processed through digital band-pass filter 136 to generate filteredaudio data. Energy-based threshold 138 receives filtered audio data todetermine whether the audio energy is over threshold or under threshold.Time-based filter 140 receives data from energy-based threshold 138 toprovide an indication as to whether the infant is crying or not crying.The information, as discussed above with respect to software controlsystem 120 (FIG. 10), is received from crying detection module 124 bybehavior state machine module 126 that will then modulate either motiongeneration module 128 or audio generation module 130.

Motion analysis module 132, shown and represented in more detail in FIG.12, receives a signal from the motion sensing device of infantcalming/sleep-aid devices 10,100, at digital filter bank 142. Digitalfilter bank 142 filters the signal to generate a filtered motionamplitude estimate that is used as input to motion generation module 128(FIG. 10). In addition, the filtered motion amplitude estimate passesthrough a range check 144 to determine whether the motion is within asoothing or known soothing range. Time-based filter 146 receives datafrom range check 144 to provide an indication as to whether a motion issoothing or not soothing. Filtered motion sensor, or accelerometer, datafrom digital filter bank 142 also passes through thresholdcrossing-based motion frequency estimator 148. Outputted data fromthreshold-crossing-based motion frequency estimator 148 passes throughrange check 144 for indicating whether the motion is or is not soothing,and also provides input to motion generation module 128 (FIG. 10).Filtered accelerometer data from digital filter bank 142 also isprocessed to determine whether or not the acceleration exceeds aspecific maximum motion threshold 150 and, depending on the result,processes that data through time-based filter 152 to provide anindication as to whether the motion is nominal or not nominal. Thisindication as to whether the motion is nominal or not nominal is used asinput to motion generation module 128 (FIG. 10), and is additionallyused to control status lights 37 (FIG. 2) via status light module 134(FIG. 10).

As can be seen in FIG. 13, behavior state machine module 126 receivesinformation from crying detection module 124 (FIG. 11) as to whether theinfant is in a state of crying or not crying. This information is usedby the state machine's state transition rules 156 to select an activestate from a library of states 154, thereby outputting a desired motionstate, a desired audio track and/or desired volume/equalizer settings toaudio generation module 130 (FIG. 10).

Audio generation module 130, represented in FIG. 14, receives signals ofa desired audio track and desired volume/equalizer settings frombehavior state machine module 126 (FIG. 10) and signals of motionanalysis, specifically, whether the motion is nominal or not nominal,from motion analysis module 132 (FIG. 10). Audio generation module 130includes a library of “soothing” audio tracks 160, a digitalequalizer/volume control 162 and alarm sound 164. Upon receipt of a newcommand from motion analysis module 132 (FIG. 10), audio generationmodule 130 will cross-fade to a desired audio track and volume, andcrossfade to desired equalizer settings. If the motion is not nominal,then an alarm signal will be output to override the audio signal with analarm. The audio signal from the audio generation module is output tothe speakers of infant calming/sleep-aid device 10,100.

At baseline, the audio generator will produce an output of a low-pitch,rumbling sound at about 65 dB to about 70 dB. Upon receipt of a newcommand from crying detection module 124 (FIG. 11), audio generationmodule 130 will cross-fade to a more high pitched audio track and loudervolume, at about 75 dB to about 80 dB.

Two variations of motion generation module are represented in FIGS. 15and 16. In the first embodiment, shown in FIG. 12, motion generationmodule 128 receives a desired motion state input from behavior statemachine module 126 (FIG. 10), a motion frequency/amplitude signal frommotion analysis module 132 (FIG. 10), a desired system speed signal fromspeed control knob 121 (FIG. 10), and a signal as to whether a motion isnominal or is not nominal. The “desired system speed” is the setting ofspeed control knob 121, whereby the operator can limit the motionsallowed by infant calming/sleep-aid device 10,100. The desired motionstate signal goes to lookup within motion generation module 128, whichoutputs a reference motor command based on a desired motion state. Ifthe currently-active motor commands are close to the reference motorcommands, then the motor commands are actively adjusted within anallowable envelope via a gradient ascent based on observed motionfrequency and amplitude. If the current motor commands are not close tothe reference motor commands, then the motion generation module will setdesired motor commands via path planning in a motor command space. “Pathplanning” transitions motor settings to desired motor settings byinserting intermediate motor settings as necessitated by nest dynamicsto ensure that motion stays in a desirable range during transition. Ifthe desired system speed is less than “full,” then a signal is sent toadjust the desired motor commands in proportion to the desired systemspeed. “Full” is the fully-on position of the knob, and means thatinfant calming/sleep-aid device 10,100 is not being limited by this knoband is allowed to perform all of the motions it determines to berelevant. If speed control knob 121 is turned down from “full,” motionsof infant calming/sleep-aid device 10,100 start to become constrained,so speed control knob 121 acts as an operator to override the normalmotion behavior of infant calming/sleep-aid device 10,100. If not, thena comparison is made as to whether the observed motion is nominal. If itis not, then motor output is disabled. If it is nominal, then an outputsignal of desired motor commands is given to target motor positions andspeeds of the actuator of the multichannel USB motor controller.

In an alternative embodiment of motion generation module 128, shown inFIG. 16, there is no receipt by the module of signals related to motionfrequency and amplitude. Therefore, it is only necessary to set desiredmotor commands by interpolating from a current command based on a lookup table of motor commands based on a desired motion state in responseto receiving a signal with respect to the desired motion state. All ofthe components of motion generation are the same as represented in FIG.15.

Experimental Section Materials

Two versions of the infant calming/sleep-aid device as shown in FIGS. 2through 9 of the invention were created, with microphones to detectinfant crying, motion and sound actuators, a swaddling system to keepthe baby in optimal position and a gel pad to reduce the pressure on theback of the skull that predisposes to plagiocephaly. The device alsocontained a logic board to accomplish two tasks; deliver stagedinterventions of specially engineered sound and to deliver motioncreated by two linked platforms attached to a motor and rod actuator (aswell as a series of springs and dampeners to modulate the activity.)These platforms acted in a reciprocating manner about an axis thatintersected the infant and was orthogonal to a major plane of thesurface supporting the infant to provide a motion that varies from slowsmooth rocking (0.5-1.5 cps) to keep babies calm- and promote sleep . .. ramping up to a faster, smaller, “jiggly” motion (2-4.5 cps) with amore “spiked” waveform to deliver a sufficiently abruptacceleration-deceleration action to stimulate the vestibular mechanismof the inner ear, trigger calming reflex and soothe the baby when shecried (head rocking back and forth in excursions of less than 1″). Thesound in the device was also designed to respond to the baby's upset bystarting a specially engineered loud, harsh and high pitched and thenstepping down to quieter, lower pitched white noise over severalminutes. The device was specifically designed to gradually reduce(“wean”) the intensity of the sound and motion over several months.

The device worked in the following way:

The baby was placed in a swaddling sack (with arms in or out) attachedto the mattress of the device and securely laid on his/her back. Thedevice produced a baseline level of low pitched, rumbling noise atapproximately 65 dB and baseline motion of a smooth, side-to-siderocking (2 inch excursions to either side). When the baby cried for morethan ^(˜)10 seconds, the device responded by playing a speciallyengineered sound that was harsher, higher pitched, more multi-frequency(75-80 dB) to mimic the intensity of the sound that the baby heardinside the mother's uterus prenatally. (This sound can be measured insitu at up to 92 dB.) If the crying continued another ^(˜)10 seconds(despite the sound), the motion accelerated to a faster, more jigglyaction of the head (2-4.5 cps, but no more than 1 inch head excursionsto either side). The combination of fast movements delivered withsufficient vigor, the harsh loud sound, and the secure swaddling sackall worked together to activate the calming reflex, in the majority ofirritable babies and inducing either calmness or sleep. The deviceresponded to the baby's cry in a step-wise fashion-gradually increasingsound and then motion-to a maximal level. Once the baby was calmed themotion and sound of the device was gradually reduced in a specific,step-wise fashion back to the baseline activity.

Subjects

The device was tested on over twenty babies (12 girls, 10 boys) were inthe device. The babies ranged from 5 weeks to 6 months of age. Theirweights ranged from 8 pounds to 18 pounds.

Methods and Procedures

The subjects were tested to record their resting and sleeping in thedevice. The tests usually began when the baby was hungry and tired(immediately before their usual naptime). The parents were introduced tothe device and given a brief demonstration of how it worked. We recordedwhen the baby last fed and napped and then put the baby in the swaddlingsack and placed the infant in the device. We observed and videotaped thesession. In addition, we collected data from 3 accelerometers and adevice-mounted camera to detect the vigor of activity and measure theexact excursions of the baby's head. We started each test with thedevice set at its lowest level for sound and motion. We observed as thedevice responded to the baby's cries. We allowed the device to quicklyadvance through each of its stages as the cries escalated. Once the babywas calmed, the device's motion would slow, in a stepwise fashion, andthe loudness and pitch of the sound would decrease, in a stepwisefashion. We repeated this format 2-4 times during our sessions with eachof the subjects. The first set of studies was done using a prototypewith a dual motion actuator and the second set of studies was done witha prototype with a single motion actuator.

Results

As shown on the attached table, during twenty-one tests, 19 babies wereeither significantly calmed or put to sleep by our device (absence ofcalming was due to hunger). Most calming and sleep occurred within 2minutes of placing the baby in the device.

We hypothesized that a device could be built that responded to thebaby's needs,

Parent's/Baby Test Baby's Baby's No. of times baby wakes Time since Timesince Calmed or Name Date Age Weight during the night last nap; lastfeeding put to sleep? Candace/Dannielle  13 weeks 14.11 lbs 1-2 timesCalmed Amanda/James Calmed Jenn/Mackienze 13.5 lbs   2 times CalmedSarah/Sloane Oct. 22, 2011   5 weeks 5-6 times Sleep Sheela/Julia  9.5lbs 3-4 times Calmed Sally/Elise Mar. 5, 2012   7 weeks  8.1 lbs 2-3times 2.0 hours  10 minutes Sleep Emily/Reese Mar. 5, 2012   7 weeks 8.3 lbs 3-4 times 1.5 hours  30 minutes Sleep Jackie/Drew Mar. 6, 20125.5 months 12.0 lbs 3-4 times 2.0 hours 1.0 hours Calmed Jackie/TessaMar. 6, 2012 5.5 months 11.0 lbs 3-4 times 2.0 hours 1.0 hours CalmedJessica/Noah Mar. 13, 2012 4.5 months 14.4 lbs 4-6 times 1.5 hours 1.0hours Sleep Charisse/Rhett Mar. 8, 2012 4.0 months 14.0 lbs 3-4 times 10 minutes 2.0 hours Sleep Dolge/Ashee Mar. 12, 2012 4.0 months 14.0lbs 5-7 times 3.0 hours 1.5 hours Sleep Laura/Charlotte Mar. 13, 2012  4 weeks 10.0 lbs 3-5 times 1.0 hours  10 minutes Sleep Laura/John Mar.15, 2012   6 weeks 10.5 lbs 1-3 times 2.0 hours 1.0 hours SleepAmelia/Arthur Mar. 15, 2012 6.0 months 15.9 lbs 3-4 times  10 minutes1.0 hours Nosuch that an infant's upsets would be soothed by vigorous stimulation toactivate the calming reflex, followed by a diminution of those stimulito help keep the calming reflex turned on and sustain the baby in a calmstate and/or promote sleep (i.e. reducing sleep latency and increasingsleep efficiency.

Time since Calmed Parent's/Baby's Baby's No. of times baby Time sincelast or put Name Test Date Baby's Age Weight wakes during the night lastnap feeding to sleep? Iris/Charlie Apr. 23, 2012   4 weeks 10.0 lbs 4-6times 1.0 hours 1.0 hours Calmed Elyse/Christian Apr. 23, 2012   5months 13.5 lbs 3-4 times 1.0 hours 1.0 hours Sleep Margaret/Halina Apr.28, 2012 4.5 months 16.2 lbs 3-4 times 1.0 hours  30 minutes SleepLaine/Lucas May 7, 2012   4 weeks  9.5 lbs 4-6 times 2.0 hours  30minutes Sleep Rachel/Cade May 7, 2012   5 months 18.0 lbs 3-4 times 1.0hours 2.0 hours Sleep Rose/Elsie May 8, 2012   4 weeks 10.0 lbs 4-6times  10 minutes 2.0 hours No(“Sleep latency” is defined as the length of time between going to bedand falling asleep. “Sleep efficiency” is defined as the ratio of timespent asleep−total sleep time−to the amount of time spent in bed.)

CONCLUSION

It was possible to promote infant calming and sleep through the use ofswaddling plus very specific sound and motion stimuli to activate thecalming reflex.

EQUIVALENTS

While this invention has been particularly shown and described withreferences to example embodiments thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade therein without departing from the scope of the inventionencompassed by the appended claims.

The relevant teachings of all references cited herein are incorporatedby reference in their entirety.

What is claimed is:
 1. An infant calming/sleep-aid device, comprising:a) a main moving platform that moves in a reciprocating manner; b) anactuator that drives the reciprocating movement of the main movingplatform; c) a moving head platform linked to the main moving platform,whereby reciprocating motion of the main moving platform causesreciprocating motion of the moving head platform; d) at least one of amotion sensing device at the moving head platform and a sound sensingdevice proximate to the moving head platform; and e) a logic circuitlinking at least one of the motion sensing device and the sound sensingdevice to the main moving platform, whereby signals detected by at leastone of the motion sensing devices or the sound sensing device cause thelogic circuit to modulate the movement of the main moving platform. 2.The infant calming/sleep-aid device of claim 1, further including asound generating device linked to the logic circuit.
 3. The infantcalming/sleep-aid device of claim 2, wherein the main moving platform isrotatable about an axis orthogonal to a major plane of the platform. 4.The infant calming/sleep-aid device of claim 3, wherein the actuatorincludes a drive motor.
 5. The infant calming/sleep-aid device of claim4, wherein the moving head platform is linked to the main movingplatform by a hinge.
 6. The infant calming/sleep-aid device of claim 5,wherein reciprocating rotation of the main moving platform causesreciprocating motion of the moving head platform about the hinge that isgreater than the reciprocating motion of the main moving platform. 7.The infant calming/sleep-aid device of claim 6, wherein the motionsensing device includes an accelerometer.
 8. The infantcalming/sleep-aid device of claim 7, wherein the sound sensing deviceincludes a microphone.
 9. The infant calming/sleep-aid device of claim8, further including a rigid base and a main movement linkage or bearingextending from the rigid base, wherein the main moving platform ismounted on the main movement linkage or bearing, whereby the main movingplatform is moveable about said main movement linkage or bearingrelative to the rigid base.
 10. The infant calming/sleep-aid device ofclaim 9, wherein the main moving platform is moveable about said mainmovement linkage or bearing in a plane substantially parallel to a majorplane of the rigid base.
 11. The infant calming/sleep-aid device ofclaim 10, wherein the drive motor is mounted to the rigid base, andfurther including, a) a catch bracket mounted to the main movingplatform; b) an eccentric drive plate engaged with the drive motor, andc) a linkage connecting the eccentric drive plate to the catch bracket,whereby actuation of the drive motor drives rotation of the main movingplatform about the main movement linkage or bearing in the reciprocatingmanner.
 12. The infant calming/sleep-aid device of claim 11, furtherincluding a hinge linking the main moving platform to the moving headplatform, whereby reciprocating rotation of the main moving platformabout the main movement linkage or bearing causes reciprocating motionof the moving head platform about the hinge that is greater than thereciprocating motion of the main moving platform.
 13. The infantcalming/sleep-aid device of claim 12, wherein the hinge linking themoving head platform to the main moving platform is a head movementlinkage or bearing.
 14. The infant calming/sleep-aid device of claim 13,further including a spring on either side of the head movement linkageor bearing, thereby modulating the reciprocating motion of the movinghead platform.
 15. The infant calming/sleep-aid device of claim 14,wherein the accelerometer is mounted at the moving head platform,whereby the rate of acceleration of the rotating head platform can bemonitored.
 16. The infant calming/sleep-aid device of claim 15, whereinat least one speaker is mounted proximate to the moving head platform.17. The infant calming/sleep-aid device of claim 16, further includingmeans for controlling actuation of the drive motor, wherein at least oneof the accelerometer and the microphone are linked to means forcontrolling actuation of the drive motor, whereby at least one ofmonitored acceleration of the accelerometer and sound detected by themicrophone will control the speed of the drive motor and, therefore, therate of reciprocation of the main moving platform.
 18. The infantcalming/sleep-aid device of claim 9, wherein the linkage connecting theeccentric drive plate to the catch bracket is a single rod.
 19. Theinfant calming/sleep-aid device of claim 18, wherein the linkageconnecting the eccentric drive plate to the catch bracket includes, a) aplurality of rods, at least a portion of which are hinged to each other;and b) a rotation bearing mounted to the rigid base and configured tocause pivoting of at least one of the rods, the rod being linkedindirectly to the drive motor through another rod to which it is hingedand which is connected to the eccentric drive plate.
 20. The infantcalming/sleep-aid device of claim 19, further including an amplitudemodulation motor connecting the main movement linkage or bearing to thepivoting rod, the amplitude modulation motor controlling a pivot pointalong a major axis of the rod to which it is connected about the mainmovement linkage or bearing, whereby the amplitude modulation motorcontrols the amplitude of reciprocating rotation of the main movingplatform about the main movement linkage or bearing.
 21. The infantcalming/sleep-aid device of claim 20, wherein the plurality of rodsincludes a rod extending from and hinged to the rod connected to theamplitude modulation motor, and extending to the catch bracket.
 22. Theinfant calming/sleep-aid device of claim 21, wherein the rod extendingto the catch bracket is linked to the catch bracket by a spring orseries of springs that modulates the reciprocating rotation of the mainmoving platform about the main movement or linkage bearing.
 23. Theinfant calming/sleep-aid device of claim 22, further including a damperor series of dampers that is attached to the rigid base and thatinteracts with the main moving platform by modulating the reciprocatingrotation of the main moving platform about the main movement or linkagebearing.
 24. The infant calming/sleep-aid device of claim 23, furtherincluding means for controlling actuation of the amplitude modulationmotor.
 25. The infant calming/sleep-aid device of claim 24, wherein themeans for controlling the drive motor and the means for controlling theamplitude modulation motor are linked.
 26. The infant calming/sleep-aiddevice of claim 25, further including a logic circuit, wherein the meansfor controlling the drive motor and the means for controlling theamplitude modulation motor are linked by the logic circuit.
 27. Theinfant calming/sleep-aid device of claim 26, wherein at least one of theaccelerometers and the microphone are linked to the drive motor and tothe amplitude modulation motor through the logic circuit.
 28. The infantcalming/sleep-aid device of claim 27, wherein both the accelerometer andthe speaker are linked to the drive motor through the logic circuit. 29.The infant calming/sleep-aid device of claim 1, further including a headrest at the moving head platform, wherein the head rest includes a gel.30. The infant calming/sleep-aid device of claim 1, further including aplurality at least two straps at the main moving platform to secure theinfant to the calming/sleep-aid device.
 31. An infant calming/sleep-aiddevice, comprising: a) a rigid base; b) a main movement linkage orbearing extending from the rigid base; c) a main moving platform mountedon the main movement linkage or bearing, whereby the main movingplatform is moveable on the main movement linkage or bearing relative tothe base; and d) an actuation assembly that controls movement of themain moving platform about the main movement linkage or bearing relativeto the rigid base, the actuation assembly including an actuator mountedto the rigid base.
 32. The infant calming/sleep-aid device of claim 31,wherein the main moving platform is moveable at least in a planesubstantially parallel to a major plane of the rigid base.
 33. Theinfant calming/sleep-aid device of claim 32, wherein the actuatorincludes a drive motor.
 34. The infant calming/sleep-aid device of claim33, wherein the actuation of assembly further includes a catch bracketmounted to the main moving platform.
 35. The infant calming/sleep-aiddevice of claim 34, wherein the actuation assembly further includes aneccentric drive plate engaged with the drive motor.
 36. The infantcalming/sleep-aid device of claim 35, wherein the actuation assemblyfurther includes a linkage connecting the eccentric drive plate to thecatch bracket, whereby actuation of the drive motor drives movement ofthe main moving platform about the main movement linkage or bearing. 37.The infant calming/sleep-aid device of claim 36, wherein the movement ofthe main moving platform about the main movement linkage or bearing is areciprocating movement.
 38. The infant calming/sleep-aid device of claim37, further including a) a moving head platform; and b) a head movementlinkage or bearing mounted to the main moving platform linking the mainmoving platform to the moving head platform.
 39. The infantcalming/sleep-aid device of claim 38, wherein movement of the mainmoving platform about the movement linkage or bearing causes movement ofthe moving head platform about the head movement linkage or bearing thathas a greater amplitude than the movement of the main moving platform.40. The infant calming/sleep-aid device of claim 39, further including aspring on either side of the head movement linkage or bearing, therebymodulating the movement of the moving head platform.
 41. The infantcalming/sleep-aid device of claim 40, wherein the movement of the mainmoving platform is configured to move in a reciprocating manner.
 42. Theinfant calming/sleep-aid device of claim 41, further including a motiondetector sensor mounted at the moving head platform.
 43. The infantcalming/sleep-aid device of claim 42, wherein the motion detectionsensor includes an accelerometer, whereby the rate of acceleration ofthe moving head platform can be monitored.
 44. The infantcalming/sleep-aid device of claim 43, further including a soundgenerating device.
 45. The infant calming/sleep-aid device of claim 44,wherein the sound generating device includes a speaker.
 46. The infantcalming/sleep-aid device of claim 45, further includes at least onesound detection device mounted proximate to the moving head platform.47. The infant calming/sleep-aid device of claim 46, wherein the sounddetection device includes a microphone.
 48. The infant calming/sleep-aiddevice of claim 47, further including means for controlling actuation ofthe drive motor, wherein at least one of the accelerometer and themicrophone are linked to means for controlling actuation of the drivemotor, whereby at least one of monitored acceleration of theaccelerometer and sound detected by the microphone will control thespeed of the drive motor and, therefore, the rate of movement of themain moving platform.
 49. The infant calming/sleep-aid device of claim48, wherein the linkage connecting the eccentric drive plate to thecatch bracket is a single rod.
 50. The infant calming/sleep-aid deviceof claim 49, wherein the linkage connecting the eccentric drive plate tothe catch bracket includes, a) a plurality of rods, at least a portionof which are hinged to each other; and b) a rotation bearing mounted tothe rigid base and configured to cause pivoting of at least one of therods, the rod being linked indirectly to the drive motor through anotherof the rods to which it is hinged, and which is connected to theeccentric drive plate.
 51. The infant calming/sleep-aid device of claim50, further including an amplitude modulation motor connecting therotation bearing to the pivoting rod, the amplitude modulation motorcontrolling a pivot point along a major axis of the rod to which it isconnected about the rotation bearing, whereby the drive motor controlsthe amplitude of reciprocating rotation of the main moving platformabout the main movement linkage or bearing.
 52. The infantcalming/sleep-aid device of claim 51, wherein the plurality of rodsincludes a rod extending from and hinged to the rod connected to theamplitude modulation motor, and extending to the catch bracket.
 53. Theinfant calming/sleep-aid device of claim 52, wherein the rod extendingto the catch bracket is linked to the catch bracket by a spring orseries of springs that modulates the reciprocating rotation of the mainmoving platform about the main movement linkage or bearing.
 54. Theinfant calming/sleep-aid device of claim 53, further including a damperor series of dampers that is attached to the rigid base and thatinteracts with the main moving platform by modulating the reciprocatingrotation of the main moving platform about the main movement or linkagebearing.
 55. The infant calming/sleep-aid device of claim 54, furtherincluding means for controlling actuation of the amplitude modulationmotor.
 56. The infant calming/sleep-aid device of claim 55, wherein themeans for controlling the drive motor and the means for controlling theamplitude modulation motor are linked.
 57. The infant calming/sleep-aiddevice of claim 56, further including a logic circuit, wherein the meansfor controlling the drive motor and the means for controlling theamplitude modulation motor are linked by the logic circuit.
 58. Theinfant calming/sleep-aid device of claim 57, wherein at least one of theaccelerometer and the microphone are linked to the drive motor and tothe amplitude modulation motor through the logic circuit.
 59. The infantcalming/sleep-aid device of claim 58, wherein both the accelerometer andthe microphone are linked to the drive motor through the logic circuit.60. The infant calming/sleep-aid device of claim 31, further including ahead rest at the moving head platform, wherein the head rest includes agel.
 61. The infant calming/sleep-aid device of claim 31, furtherincluding at least two straps at the main moving platform to secure theinfant to the calming/sleep-aid device.
 62. A method for calming oraiding sleep of an infant, comprising moving the infant in areciprocating manner about an axis that intersects the infant at a 90degree angle to a major plane of a surface supporting the infant. 63.The method of claim 62, wherein at least one of the rate and amplitudeof the reciprocating rotation is controlled by a logic circuit.
 64. Themethod of claim 62, wherein the rate and amplitude of the reciprocatingrotation are controlled by the logic circuit.
 65. The method of claim63, wherein the logic circuit controls the rate and amplitude of thereciprocating rotation in response to signals obtained from a motiondetection device that is connected to the logic circuit and that detectsperturbations caused by the infant during reciprocating rotation. 66.The method of claim 63, wherein the logic circuit controls the rate andamplitude of the reciprocating rotation in response to sounds detectedby at least one sound detection device connected to the logic circuit.67. The method of claim 66, wherein the rate of the reciprocatingrotation is in a range of between about two and about four and one-halfcycles per second and an amplitude of the reciprocating rotation at acenter of a head of the infant is in a range of between about 0.2 inchesand about 1.0 inches.
 68. The method of claim 67, wherein the rate ofreciprocating rotation is in a range of between about 0.5 and about 1.5cycles per second and an amplitude of the reciprocating rotation at acenter of a head of the infant is in a range of between about 0.5 inchesand about 1.5 inches.
 69. The method of claim 63, wherein the logiccircuit controls the rate and amplitude of the reciprocating rotation inresponse to signals obtained from a motion detection device that isconnected to the logic circuit and in response to sounds detected by atleast one sound detection device connected to the logic circuit.
 70. Anadaptive calming/sleep-aid method, comprising the steps of: a) moving aninfant in a reciprocating manner about an axis that intersects theinfant and is orthogonal to a major plane of a surface supporting theinfant; and b) modulating at least one of the sounds generated by asound generating device and the reciprocating moving in an updating andadaptive manner by logic circuit-controlled actuation in response to atleast one of sound and motion of the infant.
 71. The adaptivecalming/sleep-aid method of claim 70, wherein the modulation is furthercontrolled by at least one of the weight of the infant, the age of theinfant, the duration of the detected sound made by the infant and theduration of the detected motion of the infant.
 72. The method of claim71, wherein the rate of the reciprocating rotation is in a range ofbetween about two and about four and one-half cycles per second and anamplitude of the reciprocating rotation at a center of a head of theinfant is in a range of between about 0.2 inches and about 1.0 inches.73. The method of claim 71, wherein the rate of reciprocating rotationis in a range of between about 0.5 and about 1.5 cycles per second andan amplitude of the reciprocating rotation at a center of a head of theinfant is in a range of between about 0.5 inches and about 1.5 inches.74. The infant calming/sleep-aid device of claim 71, wherein the logiccircuit includes a crying detection module having, a) a band-pass filterto receive audio signals from the sound sensing device, whereby filteredaudio data that exceeds an energy-based threshold is delivered as anoutput signal; and b) a time-based filter that receives the outputsignal and modulates reciprocating motion of the main moving platform inresponse to the output signal.
 75. The infant calming/sleep-aid deviceof claim 74, wherein the band pass filter is a digital band pass filter.76. The infant calming/sleep-aid device of claim 70, wherein the logiccircuit includes a motion analysis module having, a) a filter bank thatdelivers a motion amplitude estimate signal and a filtered accelerometerdata signal; and b) a motion frequency estimator that receives thefiltered accelerometer data signal and delivers a motion frequencyestimate signal, whereby the logic circuit compares the filtered motionamplitude estimate and the motion frequency estimate signals to therebygenerate a signal that motion of the main rotating platform is nominalor not nominal, wherein the filtered accelerometer data signal willtrigger the logic circuit to generate a signal that the motion of themain rotating platform is not nominal if it exceeds a motion safetythreshold.
 77. The infant calming/sleep-aid device of claim 76, whereinthe filter bank is a digital filter bank.
 78. The infantcalming/sleep-aid device of claim 76, wherein the signal that the motionof the main rotating platform is not nominal, whether from thecomparison made by the logic circuit, or by exceeding the motion safetythreshold of filtered accelerometer data, is delivered to a time-basedfilter that only outputs a signal if the input signal exceeds a timethreshold.
 79. The infant calming/sleep-aid device of claim 76, whereinthe motion frequency estimator is a threshold-crossing-based motionfrequency estimator.
 80. The infant calming/sleep-aid device of claim71, wherein the logic circuit includes a motion generation module thatmodulates the speed and amplitude of reciprocating rotation of the mainrotating platform in response to input signals that include at least onemember selected from the group consisting of a desired motion state,sensed motion frequency and amplitude of the main rotating platform,desired system speed, and whether motion of the main rotating platformexceeds a safety threshold.